Less that $200 ? did you just get the boot or a new CV-joint/shaft ?
A boot change shode be cheap like $50 boot only needed !
If you got the CV-joint you may have to lossen the torsion bar (unloading the spring) all the way or you may fell some pain... And as you are right there go on ahead and replace the bearing at the same time. I have done the replacement of the thing CV-joint and half shaft bearing and ball joints before my rodeo 3 time before. saling it off for my jeep. Your Nissan is set up about the same way as the Rodeo.